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inCAD Library

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  • Helpful application examples for mechanical engineers.

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  • Online application library with a range of ideas for all manufacturing industries.
  • Save design time and learn new design applications when you are concepting new machines.

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No.000177 Gripper that reverses and rotates
Good IDEA!
68

Reverse gripper

Related Category

Cable Carriers

Cable Carriers
Product name Cable Carriers/Slit Type
Part number SE08F-30-028-14
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes

Selection criteria

Organizes cables and protects them against wear and tear on moving objects.

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Available sizes

■Cable Carriers - Slit (Type 08F)

Type Material
Outer Radius Mount Special Plastic
(Operating Temperature: -30 - 100°C)
Equiv. to Flammability Standard UL94-V2
Inner Radius Mount

■Sizes and Overall Dimensions

Bending Radius Number of Links Mounting height (Required Space Height) (Arc + Allowance) Link Pitch
28 1 ~ 37 76 91 130 20
38 1 ~ 38 96 111 160
48 1 ~ 40 116 131 190

■Sizes and Link Cross Section Dimensions

Inner height Overall Height Inner width Overall Width Number of Comb Teeth
14.6 19.3 16 24.2 2
20 28.2 2
30 38.2 3
40 48.2 4
50 58.2 5

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Bearings with Housings

Bearings with Housings
Product name Direct Mount/Standard with Pilot/Retained
Part number SBGCR6901ZZ
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Accuracy Info

Selection criteria

Bearing and housing sold as a set.

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Available sizes

■Bearings with Housings, Pilot, Retained

Flange Shape Material Surface Treatment Material of the Included
Retaining Ring
Bearing Housing Housing
Round type
･
Square type
･
Compact type 		Steel EN 1.1191 Equiv. Black Oxide Spring Steel
Electroless Nickel Plating EN 1.4301 Equiv.
EN AW-2017 Equiv. Clear Anodize
Stainless
EN 1.4301 Equiv. -

■Sizes and Dimensions

Seal Bearing Shaft Bore
Dia. 		Bearing
O.D. 		Bearing
Width 		Flange
External Dimensions 		Compact Flange
Wrench Flats 		Overall
Thickness		 Flange
Thickness 		Pilot Part
Length 		Pilot Dia.
Non-contact Rubber Seal
･
Contact Rubber Seal
623 Ø3 Ø10 4 33 16 9 7 2 Ø14
624 Ø4 Ø13 5 35 18 10 8 Ø17
605 Ø5 Ø14 5 36 20 10 8 Ø18
625 Ø16 5 38 22 10 8 Ø20
606 Ø6 Ø17 6 39 23 11 9 Ø21
626 Ø19 6 41 25 11 9 Ø24
698 Ø8 Ø19 6 41 25 11 9 Ø24
608 Ø22 7 45 29 12 10 Ø27
628 Ø24 8 47 32 13 11 Ø30
6800 Ø10 Ø19 5 41 25 10 8 Ø24
6900 Ø22 6 45 29 11 9 Ø27
6000 Ø26 8 50 34 13 11 Ø32
6200 Ø30 9 54 38 14 12 Ø36
6801 Ø12 Ø21 5 44 29 10 8 Ø26
6901 Ø24 6 48 31 11 9 Ø30
6001 Ø28 8 52 36 13 11 Ø34
6201 32Ø 10 56 40 15 13 Ø38
6802 Ø15 Ø24 5 47 32 10 8 Ø30
6902 Ø28 7 57 37 12 10 Ø35
6002 Ø32 9 60 40 14 12 Ø38
6202 Ø35 11 64 44 17 15 Ø42
6903 Ø17 Ø30 7 60 38 12 10 Ø36
6003 Ø35 10 66 44 16 14 Ø42
6203 Ø40 12 72 50 18 16 Ø48
6804 Ø20 Ø32 7 60 40 12 10 Ø38
6904 Ø37 9 69 47 15 13 Ø45
6004 Ø42 12 77 54 18 16 Ø50
6204 Ø47 14 81 58 20 18 Ø54
6805 Ø25 Ø37 7 69 47 13 11 Ø45
6905 Ø42 9 77 54 15 13 Ø50
6005 Ø47 12 88 58 18 16 Ø54
6205 Ø52 15 94 64 22 20 Ø60
6806 Ø30 Ø42 7 77 54 13 11 Ø50
6906 Ø47 9 88 58 15 13 Ø54
6006 Ø55 13 96 66 20 18 Ø62
6206 Ø62 16 104 74 23 21 Ø70
6007 Ø35 14 21 19
6207 Ø72 17 126 88 26 23 3 Ø84
6008 Ø40 Ø68 15 114 82 23 21 2 Ø78
6208 Ø80 18 134 96 27 24 3 Ø92
Double shielded 6010 Ø50 16 25 22
6210 Ø90 20 147 110 31 28 Ø106

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Accuracy Info

■Accuracy Information of the Bearings with Housings, Pilot, Retained

Pilot Dia. Tolerance: g7

Concentricity of the Pilot and the Bearing Housing: 0.02 or less

Perpendicularity of the Flange Mounting Surface and the Bearing Housing: 0.01 or less

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Shaft Collar

Shaft Collar
Product name Shaft Collars/D Cut/Compact/Split
Part number PSDNJ15-8
Features Utilization of Mounting Hole on Cut Side facilitates Sensor Bracket Mounting
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Accuracy Info

Selection criteria

Mounting holes on side allow for easy installation of sensor brackets.

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Available sizes

■Shaft Collar Clamp D Cut, Cut Surface Mount Hole, Compact

Material Surface Treatment Accessory
EN 1.1191 Equiv. Black Oxide Hex Socket Head Cap Screw 1 pcs.
Electroless Nickel Plating Hex Socket Head Cap Screw 1 pcs.
(SUS)
EN 1.4301 Equiv. -

■Sizes and Dimensions

Shaft Bore Dia. Overall Width
(Thickness) 		O.D. Fastening Screw Dia.
(Coarse) 		Mounting Screw Dia.
(Coarse)
Ø10 8 Ø30 M3 M3
Ø12
Ø15
Ø16
Ø20 Ø35
Ø25 10 Ø42 M4 M4
Ø30 12 Ø50 M5

* Please see the product pages for dimension details.

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Accuracy Info

Shaft Bore Dia. Tolerance: +0.05 / +0.01

O.D. Tolerance: ±0.1

Overall Width Tolerance: ±0.1

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IDEA NOTE Reverse pneumatic gripper converts straight motion into rotational.

If you are transferring a workpiece with the same shape for a long period of time, lock the angle of the suction hand.

IDEA NOTE Stepper motor helps keep cost down.

A stepper motor and photo micro sensor at the origin point are able to rotate the three-claw pneumatic gripper.

IDEA NOTE 揺動自転構造

断面図参照

  • Terms of use of CAD data and simplified drawing data
    These terms and conditions (hereinafter referred to as “the Terms") set forth the conditions for downloading CAD data and simplified drawing data provided by MISUMI Corporation (hereinafter referred to as "MISUMI") via www.misumi-europe.com operated by MISUMI Europa GmbH(hereinafter referred to as the "Website"). By downloading CAD data and simplified drawing data posted on the Website (hereafter referred to as “Data”), customers are deemed to have agreed to these Terms.

    1. Purpose of Use
    MISUMI offers the following:
    1)CAD data found on the Website (3D CAD data, 3D Intermediate data and 2D CAD data) for the purpose of informing customers of the characteristics of the products offered by MISUMI or a manufacturer affiliated with MISUMI for use in their designs.
    2)Simplified drawing data (in PDF format) for the purpose of checking the specifications of products.
    2. Characteristics of Data
    There may be a discrepancy in certain characteristics of products (for example: tolerance, surface roughness, chamfer, etc.) between the Data and the actual product. Furthermore, for the purpose of reducing the file size of the Data, some information such as oil groove shapes, threads, or spring shapes, may be removed from the Data.
    3. Disclaimer
    MISUMI carefully creates the Data but makes no warranty as to the quality, accuracy, functionality, safety, reliability, etc., of the Data. MISUMI may at any time, and with no prior notice to customers, revise or delete Data. MISUMI assumes no responsibility for any damage or loss resulting from any revision or deletion of the Data, or any errors in said data. Customers are solely responsible for all aspects of their own designs, including those made using the Data. MISUMI may provide customers with design example data on the Website, but the quality, accuracy, functionality, safety, reliability, etc., of such data are not guaranteed. MISUMI may, at any time, and in its sole discretion, request that the customer cease its use of or destroy the Data in its possession. MISUMI may request the customer provide MISUMI documentation of such destruction.
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    10．Miscellaneous
    In the event that Customers violate the Terms, MISUMI and/or MISUMI Europa GmbH shall be entitled to claim the damages and expenses (including attorney's fees) incurred by such violation against the Customers.
    These Terms and any disputes arising in connection therewith shall be exclusively governed by and construed in accordance with the laws of the Federal Republic of Germany, without regard to its conflicts of law principles. The courts located in Frankfurt am Main/Germany shall have exclusive jurisdiction to adjudicate any dispute arising in connection with these Terms. By downloading the Data, you agree to submit to the exclusive and personal jurisdiction of the courts located in Frankfurt am Main/Germany.

    Revised: September 21, 2025

    CAD Data Download (Unit Assembly)

    CAD Data Download: File Format
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    Click the Good IDEA! button when this application example is helpful.


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    Cautions on the CAD data

    1. Assembly data shows the assembly drawings in the concept design phase. The sole purpose of the data is to explain the structure and functionality of the assembly and is not considered nor to be used as a final design.
      You will need to edit the Data so that it meets your specific design conditions.
    2. The CAD data unit assembly consists of sub-assemblies.
      Each sub-assembly unit can be used as it is or can be edited.

      3. * The part in the frame is a sub-assembly unit.

    3. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    4. The Data including the third-part components are made by the Company.

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  • * Unit assembly CAD data consists of some sub-assemblies.
       Each sub-assembly unit can be used as it is or can be edited.

Application Overview

Purpose

  • Purpose
    • Gripper reverses and rotates the workpiece as the workpiece is laser engraved.
  • Operation
    • Workpieces are transported to the receiving/discharging position by a robot. Once the workpiece is in place, the three-claw pneumatic gripper reverses the part 90° and moves forward into printing position. As the piece is being laser marked, a stepper motor and timing belt rotates the workpiece. When printing is completed, the gripper reverses back 90° into receiving/discharging position and the piece is removed by a robot.

Target workpiece

  • Shape: Bar-shape
  • Workpiece size: Ø12 x L145mm
  • Weight: 37g

Design Specifications

Operating Conditions or Design Requirements

  • Stroke of the three-claw pneumatic gripper: 6mm
  • Reversing angle: 90°
  • Rotation angle: 90°
  • External size: W460 x D165 x H230mm

Required Performance

  • Position repeatability accuracy of the three-claw pneumatic gripper: ±0.1mm

Design Evaluation

Verification of main components

  • Verify the gripping force of the pneumatic gripper for appropriate workpiece gripping force.
  • Check the gripping force of the three-claw pneumatic gripper
    • Conditional values: Center of gravity of workpiece L1 = 85mm, workpiece gripping point L2 = 59.5mm, workpiece weight m = 37g, supply pressure p = 0.5MPa, gravitational acceleration g = 9.8m/s², friction coefficient µ = 0.2 (metal vs. metal)
    • Gripping force F1 of the three-claw pneumatic gripper at supply pressure p, and workpiece gripping point L2 is obtained form the graph as F1 = 4.5N.
      Gripping force on the workpiece F1' = F1 x µ Thus, F1' = 4.5 x 0.2 = 0.9N
    • Required gripping force F2 is obtained from the balance of the moment as follows.
      Mg x L1 = F2 x L2
      F2 = Mg x (L1 / L2) Thus, F2 = 37 x 10⁻³ x 9.8 x (85 / 59.5) = 0.518N
      F1' > F2 Thus, sufficient gripping force is achieved.

Other Design Consideration

  • Install a mechanical stopper to limit the rotation of the three-claw pneumatic gripper below 270°. This stopper serves as a countermeasure against cable entanglement and disconnection.
  • For safety purposes, a cover is installed over the timing belt.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample picture MISUMI Part Number
For Price and Days to ship click on Part No. 		Quantity
1 Ball Bearing SB6902ZZ 2
2 High Torque Timing Pulleys HTPK32S2M060-A-P4 2
3 Locating Pins SJPDSC4-4 2
4 Locating Pins SXST-D3-L13-E1 2
5 Cable Carrier SE08F-30-028-14 1
6 Metal Washers WSSS15-4-2 2
7 Bearing W/ Housing SBGCR6901ZZ 2
8 Low Head Cap Screws CBSST4-10 4
9 Timing Belts HTBN256S2M-60 1
10 Parallel Keys KEDS4-12 1
11 Collars CLBP12-16-5 1
12 Shaft Collars PSDNJ15-8 1
13 Collars CLBP15-19-5.5 1
14 Cam Followers CFUA5-13 1
15 Countersunk Screws SFBJ3-8 8
16 Low Head Cap Screws CBSST8-16 4
17 Dowel Pins MSC3-10 2
  • The part list above contains only MISUMI parts.
    The list of parts and machined products of other manufacturers than MISUMI can also be downloaded by part list download (CSV).
  • Terms of use of CAD data and simplified drawing data
    These terms and conditions (hereinafter referred to as “the Terms") set forth the conditions for downloading CAD data and simplified drawing data provided by MISUMI Corporation (hereinafter referred to as "MISUMI") via www.misumi-europe.com operated by MISUMI Europa GmbH(hereinafter referred to as the "Website"). By downloading CAD data and simplified drawing data posted on the Website (hereafter referred to as “Data”), customers are deemed to have agreed to these Terms.

    1. Purpose of Use
    MISUMI offers the following:
    1)CAD data found on the Website (3D CAD data, 3D Intermediate data and 2D CAD data) for the purpose of informing customers of the characteristics of the products offered by MISUMI or a manufacturer affiliated with MISUMI for use in their designs.
    2)Simplified drawing data (in PDF format) for the purpose of checking the specifications of products.
    2. Characteristics of Data
    There may be a discrepancy in certain characteristics of products (for example: tolerance, surface roughness, chamfer, etc.) between the Data and the actual product. Furthermore, for the purpose of reducing the file size of the Data, some information such as oil groove shapes, threads, or spring shapes, may be removed from the Data.
    3. Disclaimer
    MISUMI carefully creates the Data but makes no warranty as to the quality, accuracy, functionality, safety, reliability, etc., of the Data. MISUMI may at any time, and with no prior notice to customers, revise or delete Data. MISUMI assumes no responsibility for any damage or loss resulting from any revision or deletion of the Data, or any errors in said data. Customers are solely responsible for all aspects of their own designs, including those made using the Data. MISUMI may provide customers with design example data on the Website, but the quality, accuracy, functionality, safety, reliability, etc., of such data are not guaranteed. MISUMI may, at any time, and in its sole discretion, request that the customer cease its use of or destroy the Data in its possession. MISUMI may request the customer provide MISUMI documentation of such destruction.
    4.Prohibited Acts
    Customers or users of the Data, are prohibited from the following acts regarding the Data, in whole or in part:
    (1)Requesting quotations or placing orders for products with third parties other than those authorized by MISUMI or its affiliates;
    (2)Receiving quotations or orders for products from third parties by providing the Data to a third party or using the Data in their own business;
    (3)Displaying links to the Website related to the Data on their own websites, etc., without consent of MISUMI or its affiliates;
    (4)Using or reproducing the Data beyond the scope of the above-stated Purpose of Use;
    (5)Modifying, altering, tampering with, translating, or adapting the Data;
    (6)Selling, transferring, lending, sublicensing, or providing the Data to third parties in any way without consent of MISUMI or its affiliates;
    (7)Altering the content, reverse engineering, decompiling, disassembling, or analyzing the Data;
    (8)Publicly disclosing or exhibiting the Data without consent of MISUMI or its affiliates;
    (9)Using the Data for the purpose of providing products and services identical or similar to those of MISUMI or its affiliates;
    (10)Performing acts that interfere with the proper functioning of this Website, such as acquiring Data in bulk.
    5. Copyright
    All title and copyright in and to any information contained in the Data are owned by MISUMI or the relevant manufacturer affiliated with MISUMI and are protected by applicable copyright laws and international treaties. By downloading Data, the customer acquires no ownership rights of any kind in the intellectual property contained within. Without prior approval from MISUMI, no part of the Data may be utilized (reproduced, modified, reverse-engineered, uploaded, presented, sent, distributed, licensed, sold, or published) for any purpose other than that mentioned above.
    In the event Data is found to have been to be used for any purpose other than that mentioned above or against any applicable laws or the Terms, MISUMI may pursue any legal remedy available to it, which may result in forbidding the offending user from using the Data or accessing the Website.
    6. Third-Party Data
    MISUMI offers some Data provided by third parties. Such Data may be subject to separate terms and conditions, in addition to these terms. MISUMI makes no guarantee or warranty regarding Data from third parties.
    7. Export Control
    Customers shall comply with all applicable laws and regulations regarding the export of the Data.
    8. Amendments to the Terms
    MISUMI may, at any time, and in its sole discretion, modify these terms and conditions; any such modification will be effective immediately.
    9. Severability
    If any term or provision of these Terms is invalid, illegal, or unenforceable in any jurisdiction, such invalidity, illegality, or unenforceability shall not affect any other term or provision of these Terms or invalidate or render unenforceable such term or provision in any other jurisdiction. Section 139 BGB (German Civil Code) shall not apply.
    10．Miscellaneous
    In the event that Customers violate the Terms, MISUMI and/or MISUMI Europa GmbH shall be entitled to claim the damages and expenses (including attorney's fees) incurred by such violation against the Customers.
    These Terms and any disputes arising in connection therewith shall be exclusively governed by and construed in accordance with the laws of the Federal Republic of Germany, without regard to its conflicts of law principles. The courts located in Frankfurt am Main/Germany shall have exclusive jurisdiction to adjudicate any dispute arising in connection with these Terms. By downloading the Data, you agree to submit to the exclusive and personal jurisdiction of the courts located in Frankfurt am Main/Germany.

    Revised: September 21, 2025

    CAD Data Download (Unit Assembly)

    CAD Data Download: File Format
    生成

    Thank you for downloading the data.

    Click the Good IDEA! button when this application example is helpful.


    This data is utilized in order to list more useful application examples in the future.

    Good IDEA!

    Cautions on the CAD data

    1. Assembly data shows the assembly drawings in the concept design phase. The sole purpose of the data is to explain the structure and functionality of the assembly and is not considered nor to be used as a final design.
      You will need to edit the Data so that it meets your specific design conditions.
    2. The CAD data unit assembly consists of sub-assemblies.
      Each sub-assembly unit can be used as it is or can be edited.

      3. * The part in the frame is a sub-assembly unit.

    3. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    4. The Data including the third-part components are made by the Company.

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